Portfolio

Portfolio

Below you can find a selection of projects particularly relevant to my current interests, including ones that I have worked on in my free-time and in larger teams. As always, you can find more on my LinkedIn and GitHub profile.

Industry Experience

Vision-Based Tracking System for Ground-Truthing, iRobot.

Acted as primary developer and designer for upgrading the robot tracking system used to test and robot behavior and provide ground truth for on-robot localization algorithms. Developed Unscented Kalman filter in Python, C++, and ROS to handle non-linear estimation and sensor fusion.

Research Experience

Robotic Finger, Duke Intelligent Motion Laboratory.

Developed a 3-joint microcontroller-based robotic manipulator in C, with easy to use Python API. Created a PC–Microcontroller data communication library to provide easy communication between microcontroller and Python (without having to worry about buffer overflow). Manipulator was integrated with the “Tele-Robotic Intelligent Nursing Assistant“, a robot designed to let nurses remotely perform common tasks while caring for patients under quarantine.

Personal Experience

Highway Lane Tracker.

Tracks the position of a car within lane lines using computer vision. Robust to gaussian and non-gaussian noise as well as signal dropout. Find a more in-depth discussion at my GitHub and the blog write-up.

Behavioral Cloning Car.

Created a neural network that autonomously steers a simulated vehicle around limited-visibility tracks using camera sensors only. Clones the behavior of human drivers after training on human driving data. Github.

Vehicle Detector.

System Integration for Animal Tracking Drone.

Led system integration & development of UAV capable of locating visually tagged animals mid-flight. Took advantage of multiple open source libraries, combining them into one cohesive platform allowing for continued development of remote sensing applications. Project Website.

Nvidia Jetson CSI Camera Launcher for ROS.

A ROS package making it simple to use CSI cameras on the Nvidia Jetson TK1, TX1, or TX2 with ROS. Github.